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dc.contributor.authorWu, Yuen_US
dc.contributor.authorLow, Kin Huaten_US
dc.identifier.citationWu, Y. & Low, K. H. (2022). Discrete space-based route planning for rotary-wing UAV formation in urban environments. ISA Transactions, 129(Part A), 243-259.
dc.description.abstractThe route planning problem for rotary-wing UAV formation is studied in discrete urban environments. First, a discrete-space consensus algorithm (DSCA) integrating asynchronous planning and grouping mechanism is developed to make the rotary-wing UAVs converge to the desired formation. Then the DSCA is combined with the improved rapidly-exploring random tree (IRRT) algorithm to enable the rotary-wing UAV formation to avoid the obstacles. Finally, the time information of waypoints is complemented by resolving the conflicts among multiple rotary-wing UAVs, thus reducing the rotary-wing UAVs' time gap of reaching the destinations. The proposed method extends the original consensus theory in the discrete space and for the obstacle avoidance issue. Also, it is valid in the route planning problem for rotary-wing UAV formation considering the real urban environments.en_US
dc.description.sponsorshipMinistry of Education (MOE)en_US
dc.relation.ispartofISA Transactionsen_US
dc.rights© 2022 ISA. Published by Elsevier Ltd. All rights reserved.en_US
dc.subjectEngineering::Aeronautical engineeringen_US
dc.titleDiscrete space-based route planning for rotary-wing UAV formation in urban environmentsen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.researchAir Traffic Management Research Instituteen_US
dc.identifier.issuePart Aen_US
dc.subject.keywordsRoute Planningen_US
dc.subject.keywordsUrban Environmentsen_US
dc.description.acknowledgementThis research work is supported by the Chongqing Research Program of Basic Research and Frontier Technology, China (grant number of cstc2020jcyj-msxmX0602) and the Fundamental Research Funds for the Central Universities, China (grant number of 2020 CDJ-LHZZ-066). Thanks are also due to China Scholarship Council (project reference number 201906055030) for the financial support of the research attachment of the first author to the ATMRI in the NTU, Singapore. This collaborative research, findings presented, and interactions among teams are also relevant to the Ministry of Education (MOE, Singapore) Tier-1 project research grant (Project ID: 2018-T1-002-124) and the UAS Program on ‘‘Urban Aerial Transport Traffic Management and Systems’’ in the ATMRI, NTU, Singapore. The current work also provides the basis and idea for the recently approved National Natural Science Foundation of China (grant number of 52102453).en_US
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